title: Assistance to bone milling: a tool mounted visual display improves the efficiency of robotic guidance.
abstract: In this paper, a new kind of assistance for bone milling is disclosed. It combines a robotic comanipulator applying forces to guide the milling tool tip with a visual display mounted on the hand-held tool. This visual display is a LED bargraph providing to the user a geometric information that is mostly redundant with the forces exerted by the robot, thus constituting a multi-modal feedback. Although very basic and rather inexpensive, the additional visual display is experimentally shown to significantly improve the precision of the gesture.
authors.forename: Vincent
authors.initials: V
authors.lastname: Francoise
authors.forename: Anis
authors.initials: A
authors.lastname: Sahbani
authors.forename: Agnes
authors.initials: A
authors.lastname: Roby-Brami
authors.forename: Guillaume
authors.initials: G
authors.lastname: Morel
mesh_terms: D000328:Adult; D001842:Bone and Bones / Q000502:physiology*; D005260:Female; D006801:Humans; D008297:Male; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*; D055815:Young Adult